Inertial Characterization of Unmanned Aerial Vehicle AX-1

Abstract: This paper presents a technique for inertial characterization of an unmanned aerial vehicle (UAV). The method is particularly suitable for small budget UAVs which can not afford costly industrial settings for computing the inertia matrix taking the effect of moving layer of air and entrapped mass of air inside the fuselage into account. The complete theoretical background, experimental set up and results are presented. Particular emphasis is given on how the present method can provide superior accuracy over those already existing.